Mechanism and Optimization of the Shearing Process of Tracked Vehicle Grouser Units in Snow and Soil

WANG Yunyi; LI Pengyu; WEI Wei; ZHU Ming; KE Zhifang; LI Dongqing; DING Mingkai; YAN Qingdong

doi:10.12382/bgxb.2025.0716

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Mechanism and Optimization of the Shearing Process of Tracked Vehicle Grouser Units in Snow and Soil

更新时间：2026-05-06

- Mechanism and Optimization of the Shearing Process of Tracked Vehicle Grouser Units in Snow and Soil
- Acta Armamentarii Vol. 47, Issue 4, Pages: 250716(2026)
- 作者机构：
  
  北京理工大学机械与车辆学院，北京 100081
  哈尔滨第一机械集团有限公司，黑龙江哈尔滨 150001
  智能无人系统技术国家级重点实验室，北京 100081
  北京理工大学重庆创新中心，重庆 401120
  山西北方机械制造有限责任公司，山西太原 030009
  北京理工大学前沿技术研究院，山东济南 250307
- 作者简介：
- 基金信息：
- DOI：10.12382/bgxb.2025.0716
  CLC： TJ81
- Received：05 August 2025，
  
  Online First：27 January 2026，
  
  Published：2026-04
- 稿件说明：
移动端阅览
WANG Yunyi, LI Pengyu, WEI Wei, et al. Mechanism and Optimization of the Shearing Process of Tracked Vehicle Grouser Units in Snow and Soil[J]. Acta Armamentarii, 2026, 47(4): 250716.
DOI：

WANG Yunyi, LI Pengyu, WEI Wei, et al. Mechanism and Optimization of the Shearing Process of Tracked Vehicle Grouser Units in Snow and Soil[J]. Acta Armamentarii, 2026, 47(4): 250716. DOI： 10.12382/bgxb.2025.0716.

摘要

特种履带车辆在极地雪壤环境下的高效、可靠机动至关重要。为通过优化履齿单元提升极地特种履带车辆的行驶性能，开展履齿单元剪切雪壤介质机理研究。综合考虑履齿单元的纵向-侧向载荷状态，建立履齿单元剪切雪壤的理论模型和有限元模型，得出履齿单元剪切雪壤过程中纵向-侧向剪切力的组成和占比，分析履齿单元结构参数和雪壤介质参数对纵向-侧向剪切力的影响规律，并据此对履齿单元参数进行优化，搭建多体动力学模型，验证优化后整车的行驶性能，并搭建实验测试系统，对理论模型和有限元模型的准确性进行对比验证。实验结果表明，优化后履齿单元纵向剪切力增长17.40%，侧向剪切力下降3.57%，提高整车纵向牵引力的同时降低了转向阻力。仿真结果表明，优化后整车直线行驶滑转率下降8.70%，地面实际牵引力提高13.79%，牵引效率提高18.22%，转向半径减小2.36%，有效提高了整车的综合机动性能。研究成果为特种履带车辆雪壤环境行驶动力学和地面力学研究提供了理论支持。

Abstract

The efficient and reliable mobility of special tracked vehicles in polar snow environments is important. The mechanism of grouser units shearing the snow is investigated to improve the driving performance of special tracked vehicles by optimizing the grouser units. The theoretical and finite element models for shearing snow by grouser units are established by comprehensively considering the longitudinallateral load states of grouser units. The composition and proportion of longitudinal-lateral shear forces during the snow-shearing process are derived

and the influence laws of grouser structural parameters and snow media properties on the longitudinal-lateral shear forces are analyzed. Based on this

the parameters of grouser units are optimized. A multi-body dynamics model is built to validate the driving performance of the optimized vehicle

and an experimental test system is constructed to comparatively verify the accuracy of theoretical and finite element models. Experimental results show that the optimized grouser unit increases longitudinal shear force by 17.40% and reduces lateral shear force by 3.57%

thereby enhancing the longitudinal traction while reducing the steering resistance. Simulation results indicate an 8.70% reduction in slip ratio during straight-line driving

a 13.79% increase in actual ground traction force

an 18.22% improvement in traction efficiency

and a 2.36% decrease in turning radius. These improvements effectively enhance the comprehensive mobility of vehicle. This study provides theoretical support for terramechanics and dynamics of special tracked vehicles operating in snow environments.

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